| 摘要 |
PROBLEM TO BE SOLVED: To satisfactorily control both command follow-up characteristic and disturbance suppressing characteristic even for a controlling subject having a longer dead time, than time constant, and to perform a satisfactory control with an easy adjustment not only to a normal system but also to an abnormal system for the characteristic of the controlling subject. SOLUTION: This control unit comprises a controller consisting of a comparator 11 for inputting the deviation between a control command and the controlled variable of the controlling subject 4 to perform a proportional operation to the deviation, a compensator 12 for feeding back the output from the controller 1 body to perform the first order delay operation and dead time operation to the output of the controller 1 body, and an adder 13 for adding the output from the comparator 11 to the output from the compensator 12 to generate the control in put to the controlling subject 4 that is the output from the controller 1 body; a disturbance compensator 2 for inputting the controlled variable of the controlling subject 4 to perform a filter operation to the controlled variable; and a subtractor 3 for subtracting the output from the disturbance compensator 2 from the control input to the controlling subject 4 that is the output from the controller 1 body to generate the final manipulated variable to the controlling subject 4.
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